uorb_main
uORB::Manager::initialize():
uORB::Manager:
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- int
- uorb_main(int argc, char *argv[])
- {
- if (argc < 2) {
- usage(); //使用说明
- return -EINVAL;
- }
-
- /*
- * Start/load the driver. //开始或加载驱动
- */
- if (!strcmp(argv[1], "start")) {
-
- if (g_dev != nullptr) { //判断是否已经启动
- PX4_WARN("already loaded");
- /* user wanted to start uorb, its already running, no error */
- return 0;
- }
-
- if (!uORB::Manager::initialize()) { //初始化uORB::Manager
- PX4_ERR("uorb manager alloc failed");
- return -ENOMEM;
- }
-
- /* create the driver */ //创建一个驱动设备
- g_dev = uORB::Manager::get_instance()->get_device_master(uORB::PUBSUB);
-
- if (g_dev == nullptr) {
- return -errno;
- }
-
- #if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR)
- /* FIXME: this fails on Snapdragon (see https://github.com/PX4/Firmware/issues/5406),
- * so we disable logging messages to the ulog for now. This needs further investigations.
- */
- px4_log_initialize();
- #endif
-
- return OK;
- }
-
- /*
- * Print driver information. //打印设备信息status
- */
- if (!strcmp(argv[1], "status")) {
- if (g_dev != nullptr) {
- g_dev->printStatistics(true);
-
- } else {
- PX4_INFO("uorb is not running");
- }
-
- return OK;
- }
- //topming'li
- if (!strcmp(argv[1], "top")) {
- if (g_dev != nullptr) {
- g_dev->showTop(argv + 2, argc - 2);
-
- } else {
- PX4_INFO("uorb is not running");
- }
-
- return OK;
- }
-
- usage();
- return -EINVAL;
- }
- bool uORB::Manager::initialize()
- {
- if (_Instance == nullptr) {
- _Instance = new uORB::Manager(); //创建了一个新的uORB实例
- }
-
- return _Instance != nullptr;
- }
- /**
- * This is implemented as a singleton. This class manages creating the //这是一个实施的单例,这个class管理创建uORB节点给每个uORB topics
- * uORB nodes for each uORB topics and also implements the behavor of the //并且也实施uORB的API行为
- * uORB Api's.
- */
- class uORB::Manager : public uORBCommunicator::IChannelRxHandler
- {
- public:
- // public interfaces for this class. //公共的类接口
-
- /** //初始化单例,调用这个在所有事情之前
- * Initialize the singleton. Call this before everything else.
- * @return true on success //返回true是成功
- */
- static bool initialize();
-
- /** //获取instance的方法
- * Method to get the singleton instance for the uORB::Manager.
- * Make sure initialize() is called first. //确保initialize()先被调用
- * @return uORB::Manager* //返回创建的uORB::Manager*
- */
- static uORB::Manager *get_instance()
- {
- return _Instance;
- }
-
- /**
- * Get the DeviceMaster for a given Flavor. If it does not exist, //给定一个flavoe,会返回DeciveMaster* 如果不存在会创建并且初始化
- * it will be created and initialized.
- * Note: the first call to this is not thread-safe. //第一次调用thread-safe不是这个?
- * @return nullptr if initialization failed (and errno will be set) //初始化失败返回一个nullptr
- */
- uORB::DeviceMaster *get_device_master(Flavor flavor);
-
- // ==== uORB interface methods ====
- /**
- * Advertise as the publisher of a topic. //广告作为发布话题
- *
- * This performs the initial advertisement of a topic; it creates the topic //执行初始化的广告topic;它创造topic
- * node in /obj if required and publishes the initial data.
- *
- * Any number of advertisers may publish to a topic; publications are atomic
- * but co-ordination between publishers is not provided by the ORB.
- *
- * Internally this will call orb_advertise_multi with an instance of 0 and //函数内部调用了orb_advertis_multi
- * default priority.
- *
- * @param meta The uORB metadata (usually from the ORB_ID() macro) //uORB metadata(通常来自ORB_ID()宏)作为topic
- * for the topic.
- * @param data A pointer to the initial data to be published. //数据指针
- * For topics updated by interrupt handlers, the advertisement //中断处理函数
- * must be performed from non-interrupt context. //必须执行无中断的内容
- * @param queue_size Maximum number of buffered elements. If this is 1, no queuing is //最大的buffer元素个数,如果是1,没有队列被使用
- * used.
- * @return nullptr on error, otherwise returns an object pointer //返回空指针如果错误,否则返回一个类指针
- * that can be used to publish to the topic. //那个可以用来公布topic
- * If the topic in question is not known (due to an //如果topic在问题中不被知道(由于ORB_DEFINE不和ORB_DECLARE一致)
- * ORB_DEFINE with no corresponding ORB_DECLARE)
- * this function will return nullptr and set errno to ENOENT. //这个函数将会返回nullptr并且设置errno到ENOENT
- */
- orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data, unsigned int queue_size = 1)
- {
- return orb_advertise_multi(meta, data, nullptr, ORB_PRIO_DEFAULT, queue_size);
- }
-
- /**
- * Advertise as the publisher of a topic.
- *
- * This performs the initial advertisement of a topic; it creates the topic
- * node in /obj if required and publishes the initial data.
- *
- * Any number of advertisers may publish to a topic; publications are atomic
- * but co-ordination between publishers is not provided by the ORB.
- *
- * The multi can be used to create multiple independent instances of the same topic //用来创建多个独立接口用于相同的topic
- * (each instance has its own buffer). //每个接口都有自己的buff
- * This is useful for multiple publishers who publish the same topic. The subscriber
- * then subscribes to all instances and chooses which source he wants to use.
- *
- * @param meta The uORB metadata (usually from the ORB_ID() macro) //meta通常来自于ORB_ID()宏,是uORB的metadata
- * for the topic.
- * @param data A pointer to the initial data to be published. //data是一个初始化要发布数据的指针
- * For topics updated by interrupt handlers, the advertisement //通过中断处理函数更新,
- * must be performed from non-interrupt context.
- * @param instance Pointer to an integer which will yield the instance ID (0-based) //一个整形指针,用于接口ID(0-based)
- * of the publication. This is an output parameter and will be set to the newly //创建接口等等,0是第一个广告,1是下一个,如此往下
- * created instance, ie. 0 for the first advertiser, 1 for the next and so on.
- * @param priority The priority of the instance. If a subscriber subscribes multiple //接口的优先级
- * instances, the priority allows the subscriber to prioritize the best
- * data source as long as its available. The subscriber is responsible to check
- * and handle different priorities (@see orb_priority()).
- * @param queue_size Maximum number of buffered elements. If this is 1, no queuing is //最大的buffer元素个数,如果是1,没有queuing被使用
- * used.
- * @return ERROR on error, otherwise returns a handle //返回ERROR在错误时,否则返回一个句柄。用于创建一个topic和publish
- * that can be used to publish to the topic.
- * If the topic in question is not known (due to an
- * ORB_DEFINE with no corresponding ORB_DECLARE)
- * this function will return -1 and set errno to ENOENT.
- */
- orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
- int priority, unsigned int queue_size = 1) ;
-
-
- /**
- * Unadvertise a topic.
- *
- * @param handle handle returned by orb_advertise or orb_advertise_multi. //用于取消一个topic, handle是orb_advertise_multi返回的handle
- * @return 0 on success
- */
- int orb_unadvertise(orb_advert_t handle);
-
- /**
- * Publish new data to a topic. //发布一个新的
- *
- * The data is atomically published to the topic and any waiting subscribers
- * will be notified. Subscribers that are not waiting can check the topic
- * for updates using orb_check and/or orb_stat.
- *
- * @param meta The uORB metadata (usually from the ORB_ID() macro) //从ORB_ID宏的metadata
- * for the topic.
- * @handle The handle returned from orb_advertise. //orb_advertise返回的handle
- * @param data A pointer to the data to be published. //publish的数据的指针
- * @return OK on success, ERROR otherwise with errno set accordingly. //返回OK如果成功
- */
- int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) ;
-
- /**
- * Subscribe to a topic. //订阅一个topic
- *
- * The returned value is a file descriptor that can be passed to poll()
- * in order to wait for updates to a topic, as well as topic_read,
- * orb_check and orb_stat.
- *
- * Subscription will succeed even if the topic has not been advertised;
- * in this case the topic will have a timestamp of zero, it will never
- * signal a poll() event, checking will always return false and it cannot
- * be copied. When the topic is subsequently advertised, poll, check,
- * stat and copy calls will react to the initial publication that is
- * performed as part of the advertisement.
- *
- * Subscription will fail if the topic is not known to the system, i.e.
- * there is nothing in the system that has declared the topic and thus it
- * can never be published.
- *
- * Internally this will call orb_subscribe_multi with instance 0.
- *
- * @param meta The uORB metadata (usually from the ORB_ID() macro) //订阅主题的metadata
- * for the topic.
- * @return ERROR on error, otherwise returns a handle
- * that can be used to read and update the topic.
- */
- int orb_subscribe(const struct orb_metadata *meta) ;
-
- /**
- * Subscribe to a multi-instance of a topic. //订阅多个主题
- *
- * The returned value is a file descriptor that can be passed to poll()
- * in order to wait for updates to a topic, as well as topic_read,
- * orb_check and orb_stat.
- *
- * Subscription will succeed even if the topic has not been advertised;
- * in this case the topic will have a timestamp of zero, it will never
- * signal a poll() event, checking will always return false and it cannot
- * be copied. When the topic is subsequently advertised, poll, check,
- * stat and copy calls will react to the initial publication that is
- * performed as part of the advertisement.
- *
- * Subscription will fail if the topic is not known to the system, i.e.
- * there is nothing in the system that has declared the topic and thus it
- * can never be published.
- *
- * If a publisher publishes multiple instances the subscriber should
- * subscribe to each instance with orb_subscribe_multi
- * (@see orb_advertise_multi()).
- *
- * @param meta The uORB metadata (usually from the ORB_ID() macro)
- * for the topic.
- * @param instance The instance of the topic. Instance 0 matches the
- * topic of the orb_subscribe() call, higher indices
- * are for topics created with orb_advertise_multi().
- * @return ERROR on error, otherwise returns a handle
- * that can be used to read and update the topic.
- * If the topic in question is not known (due to an
- * ORB_DEFINE_OPTIONAL with no corresponding ORB_DECLARE)
- * this function will return -1 and set errno to ENOENT.
- */
- int orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance) ;
-
- /**
- * Unsubscribe from a topic.
- *
- * @param handle A handle returned from orb_subscribe.
- * @return OK on success, ERROR otherwise with errno set accordingly.
- */
- int orb_unsubscribe(int handle) ; //取消订阅一个主题,handle是orb_subscribe返回的句柄
-
- /**
- * Fetch data from a topic.
- *
- * This is the only operation that will reset the internal marker that
- * indicates that a topic has been updated for a subscriber. Once poll
- * or check return indicating that an updaet is available, this call
- * must be used to update the subscription.
- *
- * @param meta The uORB metadata (usually from the ORB_ID() macro)
- * for the topic.
- * @param handle A handle returned from orb_subscribe.
- * @param buffer Pointer to the buffer receiving the data, or NULL
- * if the caller wants to clear the updated flag without
- * using the data.
- * @return OK on success, ERROR otherwise with errno set accordingly.
- */
- int orb_copy(const struct orb_metadata *meta, int handle, void *buffer) ; //从主题中获取数据,buffer就是接收数据存放的位置
-
- /**
- * Check whether a topic has been published to since the last orb_copy.
- *
- * This check can be used to determine whether to copy the topic when
- * not using poll(), or to avoid the overhead of calling poll() when the
- * topic is likely to have updated.
- *
- * Updates are tracked on a per-handle basis; this call will continue to
- * return true until orb_copy is called using the same handle. This interface
- * should be preferred over calling orb_stat due to the race window between
- * stat and copy that can lead t
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